Mobile measuring backpack

Abstract

The utility model provides a mobile measurement backpack, which comprises a support frame body, and is characterized in that the support frame body is connected with a backpack body, and the backpack body is used for being arranged on the back surface of an operator; the measurement data acquisition module is connected to the top of the supporting frame body and is used for being arranged above the head of an operator so as to perform synchronous positioning and map construction; the display controller is connected to the side, away from the backpack body, of the supporting frame body and used for being arranged in front of the head of an operator so as to display image information and conduct operation control. The problem that in the prior art, surveying and mapping image information cannot be visually displayed, the surveying and mapping process cannot be conveniently controlled, and consequently an operator cannot conveniently use the surveying and mapping device is solved.

Description

Technical Field

[0001] This application relates to the technical field of digital map navigation, and particularly to a mobile measurement backpack. Background Art

[0002] In early robot navigation systems, localization and mapping were usually carried out separately. First, an environmental map was constructed using sensor data, and then localization was performed based on the map. This method has some problems. For example, detailed map information needs to be provided in advance, and there is a feedback coupling between localization and mapping, which affects the system performance. With the hardware upgrade of sensors and the continuous optimization of position estimation and map representation algorithms, the SLAM algorithm (Simultaneous Localization and Mapping) has gradually become the preferred choice for current mobile navigation systems. SLAM refers to the process in which a positioning device such as a robot or a mobile device simultaneously performs self-positioning and environmental map construction by combining sensor data in an unknown environment. It transforms the problem of separating traditional localization and mapping into a mutually dependent relationship. Among them, calculating the positioning information requires information about the current environment, and the quality of mapping also depends on the accuracy of the positioning information. By continuously optimizing the robot's position estimation and the environmental map, two-way improvement of localization and mapping is ultimately achieved.

[0003] Many existing devices apply the SLAM algorithm for localization and mapping. For example, the SLAM backpack usually consists of a mobile platform (usually a person) and a backpack device. The backpack is built-in with an advanced SLAM algorithm, which can process sensor data in real time, simultaneously perform localization and environmental mapping work, and output localization and three-dimensional map data in real time at a high frame rate. The SLAM backpack can move freely without the need for pre-deployed infrastructure, has high flexibility, and it can integrate high-precision sensors and can easily obtain rich three-dimensional information about the environment. Its main applications include three-dimensional reconstruction, surveying and mapping, navigation and other scenarios in indoor and outdoor environments. Such as digital work in fields such as architecture, infrastructure, and cultural relics protection.

[0004] In existing SLAM backpacks, for example, in the structure disclosed in the patent with the announcement number CN 217065646 U and the patent name of a backpack based on a lightweight real-time solution SLAM system, a lidar is set on the laser housing for mobile surveying and mapping. However, during the process of the operator carrying the backpack for mobile surveying and mapping, there is no display device to intuitively display the surveying and mapping image information, and the operator cannot be guided to timely understand and control the surveying and mapping process, resulting in inconvenient use for the operator.

[0005] Therefore, the prior art still needs to be improved and developed. Summary of the Utility Model

[0006] In view of the above-mentioned deficiencies in the prior art, the purpose of the present application is to provide a mobile measurement backpack, which solves the problem in the prior art that the surveying and mapping image information cannot be intuitively displayed and the surveying and mapping process cannot be conveniently controlled, thereby causing inconvenience to the operator.

[0007] The present application provides a mobile measurement backpack, which includes: a support frame, a backpack body connected to the support frame, and the backpack body is used to be placed on the back of an operator;

[0008] A measurement data acquisition module, which is connected to the top of the support frame and is used to be set above the operator's head for synchronous positioning and map construction;

[0009] The display controller is connected to the side of the support frame away from the backpack body and is used to be set in front of the operator's head to display image information and perform operation control.

[0010] Optionally, the display controller is movably connected to the support frame through a front frame, and the display controller can be flipped in the up and down direction by bending.

[0011] Optionally, the display controller includes a touch screen, and the touch screen is fixedly arranged on the front frame.

[0012] Optionally, the support frame includes: a vertical frame, a backpack body is arranged on the back of the vertical frame, and a measurement data acquisition module is arranged on the top of the vertical frame;

[0013] Two shoulder brackets, which are respectively arranged on the left and right sides of the vertical frame, and a wearing space for accommodating the operator's head is formed between the shoulder brackets on the left and right sides;

[0014] The front rack includes: a tilting rack body, on which a display controller is arranged;

[0015] Rotating connecting arms, which are respectively arranged at the left and right ends of the tilting frame and movably connected to the shoulder bracket;

[0016] On a vertical plane in the left-right direction, the tilting frame is tilted to the rotating connecting arm.

[0017] Optionally, an illumination lamp is provided on the support frame.

[0018] Optionally, the backpack body includes: a backpack box body, the backpack box body is connected to the back of the support frame body, and a storage space is provided in the backpack box body, and the storage space is used to set the control device and the power supply device;

[0019] A shoulder strap connected to the backpack body and used to be put on the operator's shoulders;

[0020] A waist strap, which is connected to the backpack body and used to tie around the waist of the operator.

[0021] Optionally, the mobile measurement backpack further includes an RTK positioning module;

[0022] The RTK positioning module is fixedly arranged on the backpack body.

[0023] Optionally, the measurement data acquisition module is detachably arranged on the top of the support frame.

[0024] Optionally, the measurement data acquisition module includes: a housing, which is detachably arranged on the top of the support frame;

[0025] A lidar, which is arranged on the housing;

[0026] A movable pan-tilt, which is arranged on the housing;

[0027] A camera, which is arranged on the movable pan-tilt;

[0028] The movable pan-tilt drives the camera to adjust its posture through the control signal of the display controller.

[0029] Optionally, there are 3 lidars, and the 3 lidars are arranged on different sides of the housing;

[0030] The movable pan-tilt is a three-axis pan-tilt;

[0031] The camera is an infrared camera.

[0032] Advantageous effects: In a mobile measurement backpack of the present application, the backpack body can be carried on the back of the operator through the support frame, and simultaneous localization and mapping are performed through the measurement data acquisition module. The process of simultaneous localization and mapping can use existing SLAM algorithms for positioning and mapping. And the image information such as the positioning and the constructed map is directly displayed through the display controller, and the display controller is arranged in front of the head of the operator, so that it is convenient for the operator to directly view the image information of the display controller, and the operator operates and controls on the display controller, issues corresponding operation instructions, realizes the control of the surveying and mapping process, optimizes the structure of the measurement backpack, and improves the convenience for the operator to perform mobile surveying and mapping. Description of the Drawings

[0033] Figure 1 It is a schematic structural diagram of a mobile measurement backpack according to an embodiment of the present application;

[0034] Figure 2 It is a schematic structural diagram of the measurement data acquisition module of a mobile measurement backpack according to an embodiment of the present application;

[0035] Figure 3Schematic diagram of another perspective of a mobile measurement backpack according to an embodiment of the present application;

[0036] Figure 4 Right view of a mobile measurement backpack according to an embodiment of the present application;

[0037] Figure 5 Schematic diagram of the structure of the front mount of a mobile measurement backpack according to an embodiment of the present application in the folded-down state;

[0038] Figure 6 Reference schematic diagram of the measurement data acquisition module of a mobile measurement backpack according to an embodiment of the present application in different scenarios.

[0039] Reference numerals in the figure: 100, support frame; 110, vertical frame; 111, shoulder bracket; 112, reinforcing rib bar; 120, front mount; 121, rotation limit structure; 122, inclined frame; 123, rotation connecting arm; 130, lighting lamp; 200, measurement data acquisition module; 210, housing; 220, lidar; 230, movable pan-tilt; 240, camera; 250, depth camera; 300, display controller; 310, touch screen; 400, backpack body; 410, backpack box; 420, shoulder strap; 430, waist strap; 500, RTK positioning module. Detailed implementation manners

[0040] To make the objectives, technical solutions and advantages of the present application clearer and more definite, the following further describes the present application in detail with reference to the accompanying drawings and by way of examples. It should be understood that the specific examples described herein are only used to explain the present application and are not used to limit the present application.

[0041] Existing SLAM backpacks not only lack the functions of display and convenient operation, resulting in limitations in use. Moreover, the sensor devices of SLAM backpacks on the market are generally monocular cameras, usually without cameras, single-line lidars and other low-quality devices. The hardware determines the performance upper limit, and only using single devices cannot provide relatively accurate positioning information and relatively high-quality mapping effects for confined spaces. Currently, all SLAM backpacks are integrated devices, that is, the backpack and each sensor are fixedly combined and cannot be disassembled, which is not conducive to replacing the mobile platform at any time, cannot solve the problem of manual mobile data collection, and is even less applicable to variable scenarios, such as data collection work cannot be completed by human movement in dangerous areas. Therefore, to solve the above problems, the following solutions are proposed in this embodiment:

[0042] As Figure 1As shown, this embodiment proposes a mobile measurement backpack, which mainly includes: a support frame 100, a measurement data acquisition module 200 and a display controller 300. The support frame 100 is connected with a backpack body 400, and the backpack body 400 is used to be set on the back of the operator; the support frame 100 mainly plays a supporting role, and the backpack body 400 can be carried on the back of the operator. The backpack body 400 is provided with corresponding control equipment (such as a microcomputer, a computer, an embedded operation panel, etc.), connecting cables and power settings, which can provide corresponding data processing, storage and operation control functions. The measurement data acquisition module 200 is connected to the top of the support frame 100 and is used to be set above the operator's head to perform synchronous positioning and map construction, for example, the existing SLAM algorithm can be used for synchronous positioning and map construction; the measurement data acquisition module 200 is raised by the support frame 100 to reduce the obstruction of the operator's body, and the range and accuracy of data collection can be improved. The measurement data acquisition module 200 can be integrated into an integral component by a variety of different sensors. During assembly, the whole measurement data acquisition module 200 is directly installed on the top of the support frame 100 to optimize the assembly process. The display controller 300 is connected to the side of the support frame 100 away from the backpack body 400. The display controller 300 has a display function and a function of sending operation instructions through the operator. And the display controller 300 is set in front of the operator's head. When the image information is displayed, it is convenient for the operator to watch it during walking, for example, the specific image of positioning and map construction, the navigation route, instructions and related videos, etc. can be viewed; when the operation control is performed, it is convenient for the operator to raise his hand to press buttons or touch operations on the display controller 300, so as to issue operation instructions, such as various interactions of display content, start / stop control and operation of the measurement data acquisition module 200, etc.

[0043] In the mobile measurement backpack of the present embodiment, the backpack body 400 can be carried on the back of the operator through the support frame 100, and the measurement data acquisition module 200 is used to perform synchronous positioning and map construction, and the process of synchronous positioning and map construction can use the existing SLAM algorithm for positioning and map construction. The image information such as the positioned and constructed map is directly displayed through the display controller 300, and the display controller 300 is set in front of the operator's head, so that the operator can directly view the image information of the display controller, and the operator performs operation control on the display controller 300, issues corresponding operation instructions, realizes the control of the surveying and mapping process, optimizes the structure of the measurement backpack, and improves the convenience for the operator to perform mobile surveying and mapping.

[0044] like Figure 1 , Figure 2As shown in the figure, further, the measurement data acquisition module 200 can be directly fixed on the top of the support frame 100 or detachably arranged on the top of the support frame 100. In this embodiment, the measurement data acquisition module 200 can be detachably assembled with the support frame 100 through a disassembly and assembly structure. As Figure 2 、 Figure 6 shown, according to the requirements of the task environment, the measurement data acquisition module 200 can be carried on a movable carrier such as a human body (held or carried on the back), a robotic dog, a mobile cart, etc., improving the flexibility of the data acquisition module and the scene applicability of the overall solution. Especially when mapping dangerous areas or small spaces, the measurement data acquisition module 200 can be installed on a robotic dog or a mobile cart, so as to enter the dangerous area or small space through the robotic dog and the mobile cart for mapping, improving the practicability of the measurement data acquisition module 200.

[0045] As Figure 1 、 Figure 2 shown, further, the measurement data acquisition module 200 in this embodiment specifically includes: a housing 210, a lidar 220, a movable pan-tilt 230, and a camera 240. The housing 210 is detachably arranged on the top of the support frame 100. The housing 210 can be connected to the support frame 100 through a screw connection. For example, threaded holes are opened on the lower surface of the housing 210, and screws are passed through the frame body and screwed into the threaded holes, so as to realize the detachable connection between the housing 210 and the support frame 100. In addition to the above screw connection, other common detachable connection structures can also be used, such as hook docking, plugging, etc.

[0046] As Figure 1 、 Figure 2 shown, the lidar 220 is arranged on the housing 210, the movable pan-tilt 230 is arranged on the housing 210, and the camera 240 is arranged on the movable pan-tilt 230. The lidar 220 and the camera 240 can be integrated on the housing 210 as different sensors. Directly separating and installing the housing 210 from the support frame 100 makes the structure simple and the installation more convenient. The lidar 220 is used to obtain the surrounding laser point cloud information, which can be used for subsequent mapping. The movable pan-tilt 230 drives the camera 240 to adjust its posture through the control signal of the display controller 300. For example, the operator can operate through the display controller 300 to control the movement of the upper movable pan-tilt 230 to drive the camera 240 to adjust its posture, so as to realize the fine mapping of the target area. The operator can also freely manually control the shooting of the camera 240 through the display controller 300, and the generated RGB image can be saved in the control device and used for subsequent detection tasks.

[0047] As Figure 1 、 Figure 2As shown, further, three lidar sensors 220 are provided. The three lidar sensors 220 are disposed on different sides of the housing 210. In a specific structure, the three lidar sensors 220 are located on the left side, the right side, and the rear side, and are perpendicular to each other at 90 degrees. Moreover, the lidar sensors 220 are placed vertically, which increases the sensing area, enlarges the sensing region, and enables the three lidar sensors 220 to cooperate in three different directions, thereby improving the data accuracy.

[0048] As Figure 1 , Figure 2 shown, further, the movable pan-tilt head 230 is a three-axis pan-tilt head (the three-axis pan-tilt head is an existing structure and will not be described in detail). The three-axis pan-tilt head can drive the camera 240 to achieve multi-angle position movement, thereby obtaining images at different positions, and thus obtaining relevant image texture information of a larger area. The camera 240 in this embodiment is an infrared camera 240. The infrared camera 240 uses an industrial camera 240, which has high shooting accuracy and fast response speed, and performs mapping during the operator's movement to obtain more accurate image texture information. The camera 240 can be controlled by the three-axis pan-tilt head to take pictures during the operator's movement, thereby obtaining image texture information, combining with the lidar point cloud information obtained by the lidar sensors 220, and performing fusion through the SALM algorithm to achieve positioning and map construction. Therefore, by fusing information from different sensors, the accuracy and robustness of positioning and map construction are improved.

[0049] As Figure 1 , Figure 2 shown, further, a depth camera 250 is provided on the front side of the housing 210 in this embodiment. The depth camera 250 can separately use the visual SALM algorithm to perform detailed map construction of a small area in the front, which not only makes the map construction more accurate, but also provides a reference for subsequent automatic navigation and obstacle avoidance. The function of the measurement data acquisition module 200 is further improved, and the practicality is stronger.

[0050] As Figure 3 , Figure 4 , Figure 5As shown, further, the display controller 300 in this embodiment is movably connected to the support frame 100 through the front frame 120, and the display controller 300 is flipped in the up and down direction by bending. The front end of the front frame 120 is connected to the display controller 300, and the rear end is rotatably connected to the support frame 100, so that it can be lifted and lowered around the rotation axis. Thereby, the display operator is lifted and lowered. In order to minimize the interference caused by the display controller 300 in the front to the camera 240 on the three-axis gimbal capturing the image information below, this embodiment solves this problem by designing the display controller 300 to be foldable up and down. Specifically: when the operator controls the three-axis gimbal to shoot downward, the display controller 300 can be adjusted to fold down, so that the display controller 300 will not block the lens of the camera 240 shooting downward. When the camera 240 on the three-axis gimbal does not need to shoot downward, the display screen can be turned upward. During the up and down adjustment and folding, the display controller 300 can work normally.

[0051] like Figure 4 , Figure 5 As shown, further, the pre-frame 120 and the support frame body 100 in this embodiment can be folded by a rotation limiting structure 121, and the rotation limiting structure 121 can adopt an existing conventional structure, for example, the rotation limiting structure 121 can include: a turntable fixed on the pre-frame 120 and arranged coaxially with the rotation axis, and an elastic clamping member arranged on the support frame body 100. In the specific structure, a plurality of clamping holes arranged in a circle are opened at the side of the turntable. When the turntable rotates with the pre-frame 120, the elastic clamping member can be stuck in different clamping holes, so that the pre-frame 120 is limited at different rotation angles to achieve folding up and down. The elastic clamping member needs the turntable to apply a certain extrusion force to get out of the clamping hole, so when the pre-frame 120 is forced to bend, the activity and limitation of the pre-frame 120 can be achieved. In addition to the above-mentioned rotation limiting structure 121, other commonly used rotation limiting structures 121 can also be adopted, such as the rotation structure in the seat handle, etc.

[0052] like Figure 1 , Figure 3As shown, further, the display controller 300 in this embodiment includes a touch screen 310, and the touch screen 310 is fixedly arranged on the front rack 120. The touch screen 310 realizes both the display function and the function of sending control instructions by touch. By adopting human-computer interaction, the intelligence of the device is improved. The touch screen 310 is used to display images and the environmental map after point cloud matching and rendering. In addition, by means of touching the screen, the attitude of the pan-tilt camera 240 above is controlled, so as to realize refined mapping of the target area. Moreover, through the interaction of the touch screen 310, the operator can freely manually control the shooting of the camera 240, and the generated RGB images can be saved in the computer and used for later detection tasks.

[0053] As Figure 3 , Figure 4 As shown, further, the support frame 100 in this embodiment specifically includes: a vertical frame 110 and two shoulder brackets 111. A backpack body 400 is arranged on the back of the vertical frame 110, and a measurement data acquisition module 200 is arranged on the top of the vertical frame 110. The two shoulder brackets 111 are respectively arranged on the left and right sides of the vertical frame 110, and a wearing space for accommodating the operator's head is formed between the shoulder brackets 111 on the left and right sides. The two shoulder brackets 111 can extend to the front of the operator, so as to provide stable support for the relevant equipment in the front. Reinforcing bars 112 are respectively arranged between the two shoulder brackets 111 and the vertical frame 110, which improves the support strength of the entire support frame 100 and facilitates the wearing of the support frame 100. The entire support frame 100 can adopt materials with relatively light quality to reduce the walking burden of the operator.

[0054] As Figure 3 , Figure 4 As shown, further, the front rack 120 in this embodiment includes: an inclined frame body 122 and a rotary connecting arm 123. The display controller 300 is arranged on the inclined frame body 122, and the rotary connecting arms 123 are respectively arranged at the left and right ends of the inclined frame body 122 and are movably connected to the shoulder brackets 111. In the vertical plane in the left-right direction, the inclined frame body 122 is inclined with respect to the rotary connecting arm 123. Since the inclined frame body 122 is inclined, the display controller 300 connected thereto is also inclined, which is convenient for the human eye to view the screen and also convenient for operation.

[0055] As Figure 1 , Figure 3As shown in the figure, further, a lighting lamp 130 is provided on the support frame body 100 in this embodiment. To cope with the existence of relatively dark areas in the environment, which may affect the image quality collected by the depth camera 250 and the camera 240 in front of the backpack, different azimuth lighting lamps 130 are also equipped on the support frame body 100 in this embodiment. In the specific structure, lighting lamps 130 can be arranged on the left and right sides of the support frame body 100. For example, lighting lamps 130 are installed in the triangular area surrounded by the reinforcing rib rod 112, the vertical frame 110 and the shoulder support 111. On the cross beam of the vertical frame 110 (front or / and rear), for example, lighting lamps 130 are installed below the measurement data acquisition module 200. And lighting lamps 130 are installed below the display controller 300 on the cross beam of the inclined frame body 122.

[0056] As Figure 1 , Figure 3 , Figure 4 As shown in the figure, further, the backpack body 400 in this embodiment specifically includes: a backpack box body 410, shoulder straps 420 and a waist strap 430. The backpack box body 410 is connected to the back of the support frame body 100. A storage space is provided in the backpack box body 410 for arranging control devices and power supply devices. The shoulder straps 420 are connected to the backpack box body 410 and are used to be sleeved on the shoulders of the operator. The waist strap 430 is connected to the backpack box body 410 and is used to be tied around the waist of the operator.

[0057] As Figure 1 As shown in the figure, further, the mobile measurement backpack in this embodiment further includes an RTK positioning module 500. The RTK positioning module 500 is fixedly arranged on the backpack body 400. Specifically, it can be at the middle position in the left-right direction of the backpack box body 410 and is vertically arranged protruding from the backpack box body 410. This RTK positioning module 500 adopts a mature positioning technology and can achieve accurate positioning without GNSS signals.

[0058] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

1. A mobile measurement backpack, characterized in that, include: A support frame, to which a backpack body is connected, and the backpack body is used to be placed on the back of an operator; A measurement data acquisition module, the measurement data acquisition module is connected to the top of the support frame and is used to be arranged above the operator's head to perform synchronous positioning and map construction; A display controller is connected to the side of the support frame away from the backpack body and is used to be set in front of the operator's head to display image information and perform operation control.

2. The mobile measurement backpack according to claim 1, characterized in that The display controller is movably connected to the support frame through a front frame, and the display controller can be flipped in the up and down direction by bending.

3. The mobile measurement backpack according to claim 2, wherein The display controller includes a touch screen, and the touch screen is fixedly arranged on the front frame.

4. The mobile measurement backpack according to claim 2, wherein The support frame comprises: a vertical frame, the backpack body is arranged on the back of the vertical frame, and the measurement data acquisition module is arranged on the top of the vertical frame; Two shoulder brackets, the two shoulder brackets are respectively arranged on the left and right sides of the vertical frame, and a wearing space for accommodating the operator's head is formed between the shoulder brackets on the left and right sides; The front frame comprises: an inclined frame body, on which the display controller is arranged; Rotating connecting arms, which are respectively arranged at the left and right ends of the tilting frame and movably connected to the shoulder bracket; On a vertical plane in the left-right direction, the inclined frame is inclined relative to the rotating connecting arm.

5. The mobile measurement backpack according to claim 1, characterized in that, The support frame is provided with an illuminating lamp.

6. The mobile measurement backpack according to claim 1, characterized in that, The backpack body comprises: a backpack box body, the backpack box body is connected to the back of the support frame body, and a storage space is arranged in the backpack box body, and the storage space is used to arrange a control device and a power supply device; A shoulder strap, which is connected to the backpack body and is used to be put on the operator's shoulders; A waist strap is connected to the backpack body and is used to be tied around the waist of the operator.

7. The mobile measurement backpack according to claim 1, characterized in that The mobile measurement backpack also includes an RTK positioning module; The RTK positioning module is fixedly arranged on the backpack body.

8. The mobile measurement backpack according to claim 1, characterized in that, The measurement data acquisition module is detachably arranged on the top of the support frame.

9. The mobile measurement backpack according to claim 8, wherein, The measurement data acquisition module comprises: a housing, which is detachably arranged on the top of the support frame; A laser radar, wherein the laser radar is arranged on the housing; A movable pan-tilt platform, the movable pan-tilt platform being arranged on the housing; A camera, wherein the camera is arranged on the movable platform; The movable gimbal drives the camera to adjust its posture through a control signal from the display controller.

10. The mobile measurement backpack according to claim 9, characterized in that, There are three laser radars, which are arranged on different sides of the housing; The movable gimbal is a three-axis gimbal; The camera is an infrared camera; A depth camera is disposed on the front side of the housing.

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